Question: A 3D object O has feature points at the following locations expressed in the objects bodycentric coordinate frame O p1 2 3 3 O p2

A 3D object O has feature points at the following locations expressed in the objects bodycentric coordinate frame O p1 2 3 3 O p2 0 0 3 O p3 1 2 2 O p4 1 0 2 Using a stereo camera a robot observes this object and measures the locations of these feature points as S p1 13840 45620 01280 S p2 09608 13110 16280 S p3 13250 23890 17020 S p4 13140 02501 07620 in the stereocameras bodycentric frame S What is the pose TSO SE3 of object O with respect to the camera frame S

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